Basic Governing Differential

Equations

CEE 331
September 28, 2018

School of Civil and

Monroe L. Weber-Shirk Environmental Engineering
 Overview

Continuity Equation
Navier-Stokes Equation
(a bit of vector notation...)
Examples (all laminar flow)
Flow between stationary parallel horizontal
plates
Flow between inclined parallel plates
Pipe flow (Hagen Poiseuille)
 Why Differential Equations?

A droplet of water
Clouds
Wall jet
Hurricane
 Conservation of Mass in
Differential Equation Form
F
G  IF v I
  y J
Gv  y J
H y KH y Kxz Mass flux out of differential volume

 Rate of change of mass in

 y x z
y t differential volume

z
x
vxz Mass flux into differential volume
 Continuity Equation

Mass flux out of differential volume

F
G v 
v   y  v y 
v  I
y Jxz
2
Higher order term
H y y y y K
out in Rate of mass decrease
F
G v  I
v   y  v yJ

xz  vxz   yxz
H y y K t

v  
 v  
y y t
v 
 0 1-d continuity equation
y t
 Continuity Equation

af af a f
  u  v  w
   0 3-d continuity equation
t x y z
divergence
 u, v, w are
    V  0 Vector notation velocities in x, y,
t
and z directions

If density is constant...
u v w
  0 or in vector notation V  0
x y z
True everywhere! (contrast with CV equations!)
 Continuity Illustrated

u v w y
  0
x y z

What must be happening?

v u
<0 \ >0
y x
x
 Navier-Stokes Equations

 Derived by Claude-Louis-Marie Navier in 1827

 General Equation of Fluid Motion
 Based on conservation of ___________
momentum with forces…
 ____________
Gravity
 ___________________
Pressure
 ___________________
Shear
 U.S. National Academy of Sciences has made the full
solution of the Navier-Stokes Equations a top priority
 Navier-Stokes Equations

V a   F
Navier-Stokes Equation
a   g  p   V 2
g is constant
a    p   g   2 V a is a function of t, x, y, z
a  Inertial forces [N/m3], a is Lagrangian acceleration
Is acceleration zero when V/  t = 0? NO!
  p   g   Pressure gradient (not due to change in elevation)
p   g  0 then _____
If _________ V 0
du
 V  Shear stress gradient
2     V
dx
 Notation: Total Derivative
Eulerian Perspective
D  dt  dx  dy  dz Total derivative
(t , x, y, z )    
Dt t dt x dt y dt z dt (chain rule)
D     Material or
(t , x, y, z )  u v w
Dt t x y z substantial derivative
DV V V V V
(t , x, y, z )  u v w
Dt t x y z Lagrangian acceleration

V V V V  ()  ()  ()
a u v w ()  i j k
t x y z x y z
V  ()  ()  ()
a  V V  V   ()  u  v  w
t x y z
 Application of Navier-Stokes
Equations
The equations are nonlinear partial
differential equations
No full analytical solution exists
The equations can be solved for several
simple flow conditions
Numerical solutions to Navier-Stokes
equations are increasingly being used to
describe complex flows.
 Navier-Stokes Equations: A
Simple Case
No acceleration and no velocity gradients
a    p   g   2 V
0    p   g 
p    g xyz could have any orientation
g
p p p
  gx   g y    g z Let y be vertical upward
x y z
p p p Component of g in the x,y,z direction
0   g 0
x y z
p    gy  C For constant 
 Infinite Horizontal Plates:
Laminar Flow
Derive the equation for the laminar, steady, uniform flow
between infinite horizontal parallel plates. y
a    p   g   2 V
0    p   g    2 V x
p   2u  2u  2u  p   2u 
x 0     gx    2  2  2  0    2 
x  x y z  x  y 
v =0 Hydrostatic in y
p  v  v  v
2 2 2
y 0    gy    2  2  2  p
y   x y z  0    g
w = 0 y
p 
z 0     gz     2
w  2
w  2
w
 2  2 00
z  x
2
y z 
 Infinite Horizontal Plates:
Laminar Flow
p   2u  du
0    2   
x  y  dy

dp  d 2u  d Pressure gradient in x balanced by

   2 
dx  dy  dy shear gradient in y
No a so forces must balance!
   2   du 
dp d u dp


dy     2  dy
 y  A   

 dx   dy  dx  dy 

   du 
dp  y 2 dp
 y

 A dy     dy  Ay  B   u
 dx    dy  2 dx
Now we must find A and B… Boundary Conditions
 Infinite Horizontal Plates:
Boundary Conditions
y
No slip condition
u = 0 at y = 0 and y = a a  u

x
y 2 dp
 Ay  B   u dp
2 dx let negative
be___________
dx
B0 What can we learn about ?
 a dp  du  dp
a 2 dp
 Aa  0 A    y  A
2 dx 2 dx  dy  dx
y  y  a  dp  a  dp
u  y 
2  dx  2 dx 
 Laminar Flow Between Parallel
Plates

a    g  p   2 V

0    g  p  2 V No fluid particles

are accelerating q

p   2u  2u  2u 
0   gx     2  2  2  Write the x-component
x  x y z 

p   2u 
0   gx     2 
x  y 
 Flow between Parallel Plates

p   2u 
0   gx     2  u is only a function of y
x  y 

dp  d 2u 
0   gx     2  g x  g  ˆi
dx  dy 

 d 2u  dp General equation describing laminar

  2    gx  flow between parallel plates with the
 dy  dx
only velocity in the x direction
 Flow Between Parallel Plates:
Integration
d 2u dp
 2   gx 
dy dx
 d 2u  dp 
  2 dy     g x   dy
 dy  dx 
du  dp  q
  y   g x    A t
dy  dx 
 du   dp  
  dy    y 
 xg    A  dy
 dy   dx  
y2  dp 
u    g x    Ay  B
2  dx 
 Boundary Conditions

y2  dp 
u     g x    Ay  B
2  dx 

Boundary condition u = 0 at y = 0
0  00 B
Boundary condition u = U at y = a
a2  dp  U a  dp 
U     g x    Aa A    gx  
2 dx  a 2 dx 
Uy y 2  ay  dp 
u    gx  
a 2  dx 
 Discharge

y y 2  ay  dp 
u U   gx  
a 2  dx 
a
a
 y y 2  ay  dp  
q   udy    U    g x    dy
0  a 2  dx  
0

Ua a 3  dp 
q  
 x g   Discharge per unit width!
2 12  dx 
 Example: Oil Skimmer
An oil skimmer uses a 5 m wide x 6 m long
moving belt above a fixed platform (q=60º) to
skim oil off of rivers (T=10 ºC). The belt travels
at 3 m/s. The distance between the belt and the
fixed platform is 2 mm. The belt discharges into
an open container on the ship. The fluid is
actually a mixture of oil and water. To simplify
the analysis, assume crude oil dominates. Find
the discharge and the power required to move
the belt. g x h
 = 860 kg/m 3
60º l
 = 1x10-2 Ns/m2
 g x
Example: Oil Skimmer 60º

Ua a 3  dp  dp
q    gx   0 g x  g  ˆi  g cos(60)  0.5 g
2 12  dx  dx
a  0.002 m U  3 m/s
(0.002 m)3
q
(3 m/s)(0.002 m)
2

12 1x10 N  s/m 
-2 2
 0.5   9.806 m/s 2
 860 kg/m 3
)
dominates
q = 0.0027 m2/s (per unit width) In direction of belt

Q = 0.0027 m2/s (5 m) = 0.0136 m3/s

 Example: Oil Skimmer Power
Requirements
How do we get the power requirement?
___________________________
Power = Force x Velocity [N·m/s]
What is the force acting on the belt?
 Shear
___________________________
force ( · L · W)
Remember the equation for shear?
 = (du/dy)
_____________ Evaluate at y = a.
du  dp  U a  dp 
  y   gx    A A    gx  
dy  dx  a 2 dx 
 a  dp  U 
   y    g x   
 2  dx  a
 Example: Oil Skimmer Power
Requirements
 a  dp  U   dp 
   y    g x      g x     g cos 60
 2  dx  a  dx 
a U
   g cos 60 
2 a
 3 m  2 N  s 
    1x10 2 
2  
 9.8 m/s     
0.002 m 860 kg s m N
   0.5    19.2 2
2  m 
3
 0.002 m  m
Power   LWU FV (shear by belt on fluid)
 N
Power  19.2 2 6 m 5 m 
3 m
= 3.46 kW
 m  s
How could you reduce the power requirement? Decrease 
__________
 Example: Oil Skimmer
Where did the Power Go?
Where did the energy input from the belt
go?
Potential and kinetic energy
Heating the oil (thermal energy)
P   Qh Potential energy
 N  m3 
P   8430 3  0.0136 3 m 
 m  s 

h=3m P  344 W
 Velocity Profiles
y y 2  ay  dp 
Pressure gradients u  U   
 x g  
and gravity have a 2  dx 
the same effect. 3
2
u (m/s)
In the absence of 1

pressure gradients 0
oil
and gravity the -1
water
velocity profile is -2
0 0.0005 0.001 0.0015 0.002
________
linear
y (m)
 Example: No flow

Find the velocity of a vertical belt that is 5

mm from a stationary surface that will result
in no flow of glycerin at 20°C (m = 0.62
Ns/m2 and  =1250 kg/m3)
Draw the glycerin velocity profile.
What is your solution scheme?
Ua a 3  dp 
q   gy  
2 12  dy 
 Laminar Flow through Circular
Tubes
Different geometry, same equation
development (see Munson, et al. p 327)
Apply equation of motion to cylindrical
sleeve (use cylindrical coordinates)
 Laminar Flow through Circular
Tubes: Equations

r 2  R2  dp 
vl    gx   R is radius of the tube
4  dx 
R2  dp 
vmax    gx   Max velocity when r = 0
4  dx 
Velocity distribution is paraboloid of
R2  dp 
V    gx   average velocity
revolution therefore _____________
8  dx  (V) is 1/2 vmax
_____________
 R4  dp 
Q 
 x g   Q = VA = VR2
8  dx 
 Laminar Flow through Circular
Tubes: Diagram
r 2  R2  dp 
vl    gx  
4  dx 

dvl r  dp  Velocity
   gx  
dr 2   dx 
Shear (wall on fluid)
Laminar flow
dvl r  dp 
     gx  
dr 2  dx 
Shear at the wall
Next slide!
r   ghl  True for Laminar or  ghl d
    0  
2  l  Turbulent flow 4l
Remember the approximations of no shear, no head loss?
 Relationship between head loss
and pressure gradient for pipes
p1 V12 p2 V22
 z1  1  hp   z2   2  ht  hl cv energy equation
1 g 2g 2 g 2g
p1 p2 Constant cross section
 z1   z2  hl
1 g 2 g
In the energy equation
 ghl    p2  p1     gz2   gz1 
the z axis is tangent to g
hl p z x is tangent to V
g   g
x x x z
z x
g  gx
hl  p  x
g     gx 
x  x 
l is distance between control
hl  dp 
g     gx  surfaces (length of the pipe)
l  dx 
 The Hagen-Poiseuille Equation
hl  dp  Relationship between head loss
g     gx 
l  dx  and pressure gradient
Hagen-Poiseuille Laminar pipe flow equations
 R4  dp 
Q   gx   From Navier-Stokes
8  dx 
What happens if you double the
 R4  hl  pressure gradient in a horizontal
Q   g 
8  l  tube? ____________
flow doubles

 D 4  ghl D 2  ghl
Q V V is average velocity
128 l 32 l
 Example: Laminar Flow (Team
work)

Calculate the discharge of 20ºC

water through a long vertical section of 0.5
mm ID hypodermic tube. The inlet and outlet
pressures are both atmospheric. You may
neglect minor losses.

What is the total shear force?

What assumption did you make? (Check your
assumption!)
 Example: Hypodermic Tubing
Flow
p1 V12 p2 V22
 z1  1  Hp   z2   2  H t  hl
1 2g 2 2g
D 4 hl
Q
128 L
hl d
0  
Q
c afa
9806 N / m h 0.0005mf
3 4
Q  158
. x10 m / s 8 3 4l
128c1x10 Ns / m h 3 2rlhl d

2
Fshear
. L / s
Q  158 4l
4Q
V 2 V  0.0764m / s
d Fshear   r 2 hl 

Vd   0.0764 m / s  0.0005m 1000 kg / m 3

 = weight!
Re  Re 
 1x10 3
Ns / m 2 
Re  38
 Summary

Navier-Stokes Equations and the Continuity

Equation describe complex flow including
turbulence
The Navier-Stokes Equations can be solved
analytically for several simple flows
Numerical solutions are required to describe
turbulent flows
 Glycerin
Ua a 3  dp 
Q   gy   dp
2 12  dy  gy   g
dy
Ua a 3  g y
0 
2 12
a2  g
U
6
  12300 N / m3 
2
0.005 m
U  0.083m / s
6  0.62 Ns / m 
2

R
Vl c

a
1254 kg / m h0.083m / sfa
3
0.005mf
 0.8
 0.62 Ns / m2